控制理论(社会学)
李雅普诺夫函数
斯图尔特站台
跟踪误差
机电一体化
计算机科学
控制器(灌溉)
自适应控制
控制工程
工程类
控制(管理)
人工智能
运动学
非线性系统
物理
经典力学
量子力学
农学
生物
作者
Sandra Marlene Cobian-Aquino,Jose Eduardo Mendoza-Guerrero,Jorge Danel-Muñoz,Mario André Coronado-Quiel,Alejandro Guarneros-Sandoval,O. Carbajal-Espinosa,Isaac Chaírez
标识
DOI:10.1016/j.isatra.2024.02.030
摘要
In this research project, a closed-chain robotic active ankle orthosis with six degrees of freedom is designed, constructed, numerically valued, instrumented, and experimentally validated. The mechanical arrangement to implement the orthosis corresponds to a six-legged Stewart platform. An adaptive gain control strategy with state constraints based on a state-dependent gains control (that behaves as a diverging function as the states approach the state restrictions) operates the device’s motion. The convergence to an invariant positive set centered at the origin of the tracking error space is validated using the stability analysis based on the second method of Lyapunov, with the implementation of a state barrier Lyapunov-like function. The ultimate boundedness of the tracking error is proven with an endorsed gains adjustment method leading to a reachable minimum size of the ultimate bound. Hence, the impact of the state constraints and the formal reason for applying the controller on the suggested orthosis are all established. The orthosis is also controlled using a conventional state feedback strategy to assess the tracking error for an external disturbance and contrast its performance with the proposed control approach. The technology is tested on a few carefully chosen volunteers, successfully limiting the range of motion within a pre-defined region based on the scope of movement reported by patients with ankle illnesses discovered in the literature. Based on a unique mechatronic device, the created system offers a fresh approach to treating this class of impairments.
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